CN104678885B - A kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement - Google Patents
A kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement Download PDFInfo
- Publication number
- CN104678885B CN104678885B CN201410843044.0A CN201410843044A CN104678885B CN 104678885 B CN104678885 B CN 104678885B CN 201410843044 A CN201410843044 A CN 201410843044A CN 104678885 B CN104678885 B CN 104678885B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- group
- motor
- side chain
- rod side
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 8
- 238000009826 distribution Methods 0.000 claims abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000004044 response Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000011109 contamination Methods 0.000 abstract description 3
- 230000009885 systemic effect Effects 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement, including motor, moving platform, fixed pedestal and connecting rod side chain, described motor is divided into two groups, every group of motor is centrosymmetric distribution in respective fixed pan, the axis of the output shaft of first group of motor is parallel to each other but non-coplanar, the axis of the output shaft of second group of motor is in same plane, and the axis of the output shaft of two groups of motors is mutually orthogonal；The connecting rod side chain is divided into two groups, and every group of equal Central Symmetry of connecting rod side chain is connected on moving platform, but each connecting rod side chain is not intersected at a bit；Every group of connecting rod side chain is connected by rotating pair with motor, is connected, each connecting rod side chain is made up of multistage connecting rod, is hinged between each section of connecting rod by ball pivot or Hooke with moving platform by ball pivot or Hooke's hinge.Bearing capacity of the present invention is strong, decoupling computation is simple, working space is big, can improve system rigidity and dynamic response characteristic, at the same have the advantages that transmission system is simple, drive control easily, manufacturing cost and maintenance cost is low, systemic contamination is few.
Description
Technical field
The present invention relates to the parallel connection platform in theory of mechanisms field, more particularly to a kind of six-freedom parallel of driving quadrature arrangement
Platform.
Background technology
Parallel institution has the advantages that high precision, bearing capacity are strong, rigidity is big, Stability Analysis of Structures compared with serial mechanism,
Using relatively broad in theoretical and real work.More parallel institution is applied at present, and most configurations belong to Stewart platforms.
For the parallel connection platform of this class formation, generally using by drive arrangement same plane (connection side chain is located at the lower section of moving platform,
As on fixed pedestal), for multivariant Stewart structures, this arrangement so that driving force is highly coupled, decoupling
Calculate more difficult, so as to also increase the control difficulty of platform；Driver is fixed also influences system on the moving platform
Response characteristic.Further, since the limitation of arrangement of mechanism, existing such parallel connection platform is driven using large-scale servo-cylinder mostly,
And large-scale energy storage device is equipped with, device structure is larger, and manufacture maintenance cost is higher, and the leakage of hydraulic oil easily causes environmental pollution；
Because hydraulic cylinder rigidity itself is relatively low, dynamic response delay is larger, the overall rigidity of influence system.For being driven using straight line
The parallel connection platform of dynamic device driving, transmission system need to be equipped with ball-screw, sliding block, guide rail etc., and the assembling for undoubtedly adding system is difficult
Degree, required precision and manufacturing cost.
The content of the invention
The problem of existing for above-mentioned prior art, the present invention provides the present invention and is directed to the deficiencies in the prior art,
There is provided a kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement.
To solve the above problems, the technical solution adopted by the present invention is：A kind of six-freedom parallel of driving quadrature arrangement
Platform, including motor, moving platform, fixed pedestal and connecting rod side chain, described motor are divided into two groups, first group of driving
The axis of the output shaft of motor is parallel to each other but non-coplanar, and the axis of the output shaft of second group of motor is in same plane
Interior, the axis of the output shaft of two groups of motors is mutually orthogonal；Described connecting rod side chain is divided into two groups, first group of connecting rod side chain
One end is connected by rotating pair with the output shaft of first group of motor, and the other end is connected by ball pivot or Hooke's hinge with moving platform
Connect, one end of second group of connecting rod side chain is connected by rotating pair with the output shaft of second group of motor, and the other end passes through ball pivot
Or Hooke's hinge is connected with moving platform；Described connecting rod side chain is made up of multistage connecting rod, and ball pivot or Hooke are passed through between each section of connecting rod
It is hinged, the connecting rod being connected with motor has the rotation in plane, remaining connecting rod has the rotation in space.
Further, first group of described motor and second group of motor are at respective fixed pan Nei Cheng centers pair
Claim distribution, ball pivot or the equal center pair of Hooke's hinge that described first group of connecting rod side chain and second group of connecting rod side chain is connected with moving platform
Title is connected on moving platform, but each connecting rod side chain is not intersected at a bit.
Further, described motor totally six, are divided into two groups, first group of motor and second group of motor are each
Three；First group of motor and second group of motor are fixed in two planes being parallel to each other；First group of connecting rod side chain
The output shaft of output shaft, second group of connecting rod side chain and second group of motor with first group of motor is secondary even using rotation
Connect；Described connecting rod side chain can be made up of two sections of connecting rods, with the output shaft of motor by rotating the secondary connecting rod being connected, can be with
Rotation where realizing in fixed pan, the connecting rod being hinged with moving platform can realize the rotation in space plane.
Beneficial effect：The present invention Six Degree-of-Freedom Parallel Platform compared with prior art, with advantages below：Two groups of drivings
The output axis quadrature arrangement of motor, can be respectively subjected to power and the torque produced in motion process, the quadrature arrangement of driving can letter
Change decoupling computation；Connecting rod side chain has the rotation in plane and space, it is possible to increase the working space of moving platform；Driven using motor
And be fixed on fixed pedestal rather than on moving platform, system rigidity and dynamic response characteristic, motor and connecting rod branch can be improved
Chain is using unified rotation pair connection, it is to avoid complicated transmission system, and easily, assembling is simple, and systemic contamination is few drive control,
Reduce manufacturing cost and maintenance cost.
Brief description of the drawings
Fig. 1 is the structure chart of the Six Degree-of-Freedom Parallel Platform of the driving quadrature arrangement of the present invention；
In figure：1-1, first group of motor；1-2, second group of motor；2nd, moving platform；3rd, fixed pedestal；4-1,
One group of connecting rod side chain；4-2, second group of connecting rod side chain；5-1, the first output shaft；5-2, the second output shaft；6-1, the first ball pivot；6-
2nd, the second ball pivot；7-1, first connecting rod ball pivot；7-2, second connecting rod ball pivot.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in figure 1, a kind of Six Degree-of-Freedom Parallel Platform for driving quadrature arrangement, including it is motor, moving platform 2, solid
Determine pedestal 3 and connecting rod side chain, described motor totally 6 is divided into first group of motor 1-1 and second group of motor 1-
2, every group of motor has 3 motors；First group of motor 1-1 and second group of motor 1-2 are fixed on mutually
In two parallel planes, every group of motor is centrosymmetric distribution in respective fixed pan；First group of motor
1-1 the first output shaft 5-1 axis is parallel to each other but non-coplanar, second group of motor 1-2 the second output shaft 5-2 axle
Line is in same plane, first group of motor 1-1 the first output shaft 5-1 axis and second group of motor 1-2's
Second output shaft 5-2 axis is mutually orthogonal.
Described connecting rod side chain totally 6, is divided into first group of connecting rod side chain 4-1 and second group of connecting rod side chain 4-2, every group of connecting rod
Side chain respectively has 3 connecting rod side chains；First group of connecting rod side chain 4-1 and second group of equal Central Symmetry of connecting rod side chain 4-2 are connected to dynamic flat
On platform 2, but each connecting rod side chain is not intersected at a bit；First group of connecting rod side chain 4-1 one end is by rotating secondary and first group of driving
Motor 1-1 the first output shaft 5-1 connections, the other end is connected by the first ball pivot 6-1 with moving platform 2, second group of connecting rod side chain
4-2 one end is connected by rotating pair with second group of motor 1-2 the second output shaft 5-2, and the other end passes through the second ball pivot
6-2 is connected with moving platform 2；
First group of connecting rod side chain 4-1 and second group of connecting rod side chain 4-2 are constituted by two sections of connecting rods, first group of connecting rod side chain 4-
1 two sections of connecting rods pass through second connecting rod ball by the 7-1 connections of first connecting rod ball pivot, second group of connecting rod side chain 4-2 two sections of connecting rods
Cut with scissors 7-2 connections；With first group of motor 1-1 the first output shaft 5-2 and second group of motor 1-2 the second output shaft 5-
The rotation in plane can be achieved in the connecting rod of 2 connections under driving effect, and the connecting rod being connected with moving platform 2 can realize turning in space
It is dynamic.
First group of motor 1-1 the first output shaft 5-1 axis and second group of motor 1-2 the second output shaft
5-2 axis is mutually orthogonal, is calculated so as to simplied decoupling, while power and the torque produced in motion process can be born；The
One group of motor 1-1 and second group of motor 1-2 are both secured on fixed pedestal 3 rather than on moving platform 2, to mitigate
The moving loads of moving platform 2, improve system rigidity and dynamic response characteristic；In first group of motor 1-1 and second group of driving
Under motor 1-2 driving effect, the output shaft in first group of connecting rod side chain 4-1 and second group of connecting rod side chain 4-2 with motor
The connecting rod of connection realizes the rotation of institute planar, and the connecting rod that drive is connected with moving platform 2 realizes the rotation in space, it is possible to increase
The working space of moving platform 2；First group of motor 1-1 and second group of motor 1-2 and first group of connecting rod side chain 4-1 and
Two groups of connecting rod side chain 4-2 are using unified rotation pair connection, it is to avoid complicated transmission system, drive control easily, assembling letter
Single, systemic contamination is few, it is possible to decrease manufacturing cost and maintenance cost.
Claims (2)
1. a kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement, including motor, moving platform, fixed pedestal and connecting rod branch
Chain, it is characterised in that：The motor is divided into two groups, and the axis of the output shaft of first group of motor is parallel to each other but uncommon
Face, the axis of the output shaft of second group of motor is in same plane, and the axis of the output shaft of two groups of motors is mutual
It is orthogonal；Described connecting rod side chain is divided into two groups, and one end of first group of connecting rod side chain is secondary with first group of motor by rotating
Output shaft is connected, and the other end is connected by ball pivot or Hooke's hinge with moving platform, and one end of second group of connecting rod side chain is secondary by rotating
It is connected with the output shaft of second group of motor, the other end is connected by ball pivot or Hooke's hinge with moving platform；Described connecting rod branch
Chain is made up of multistage connecting rod, is hinged between each section of connecting rod by ball pivot or Hooke, and the connecting rod being connected with motor has flat
Rotation in face, remaining connecting rod has the rotation in space.
2. a kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement according to claim 1, it is characterised in that:Described
First group of motor and second group of motor are centrosymmetric distribution, first group of described company in respective fixed pan
The ball pivot or the equal Central Symmetry of Hooke's hinge that bar side chain and second group of connecting rod side chain are connected with moving platform are connected on moving platform, but respectively
Connecting rod side chain is not intersected at a bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410843044.0A CN104678885B (en) | 2014-12-30 | 2014-12-30 | A kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410843044.0A CN104678885B (en) | 2014-12-30 | 2014-12-30 | A kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104678885A CN104678885A (en) | 2015-06-03 |
| CN104678885B true CN104678885B (en) | 2017-07-14 |
Family
ID=53314122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410843044.0A Active CN104678885B (en) | 2014-12-30 | 2014-12-30 | A kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104678885B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000453A (en) * | 2017-11-13 | 2018-05-08 | 歌尔股份有限公司 | Motion platform and electronic equipment |
| CN108453704A (en) * | 2018-03-07 | 2018-08-28 | 上海交通大学 | Parallel sea wave simulation device |
| CN109455537A (en) * | 2018-09-19 | 2019-03-12 | 浙江厚达智能科技股份有限公司 | Spiral blanking type Chinese herbal prepared slice dispensing mechanism and Chinese herbal prepared slice dispensing method |
| CN109807861B (en) * | 2019-03-18 | 2021-08-10 | 上海交大临港智能制造创新科技有限公司 | Parallel mechanism |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997022436A1 (en) * | 1995-12-20 | 1997-06-26 | Alexander Konrad Wiegand | Device for spatially moving a body with three to six degrees of freedom in a controlled manner |
| CN100462208C (en) * | 2007-06-01 | 2009-02-18 | 浙江理工大学 | Four-freedom redundantly driven parallel robot mechanism |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| CN202317698U (en) * | 2011-11-11 | 2012-07-11 | 浙江理工大学 | High-rigidity redundant-drive three-degree-of-freedom parallel mechanism |
| CN102380771B (en) * | 2011-11-11 | 2013-04-10 | 浙江理工大学 | High-rigidity redundantly-actuated three-degree-of-freedom parallel mechanism |
| CN102717380B (en) * | 2012-05-23 | 2015-02-04 | 北京航空航天大学 | Six-degree of freedom parallel mechanism based on different radii |
| CN102699904B (en) * | 2012-07-03 | 2015-08-05 | 河北工业大学 | A kind of six degree of freedom three side chain parallel robot mechanism |
| CN102848375A (en) * | 2012-08-29 | 2013-01-02 | 江西省机械科学研究所 | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion |
| CN104102170A (en) * | 2014-06-26 | 2014-10-15 | 天津工业大学 | Four freedom degree parallel mechanism with series input branch chains |
-
2014
- 2014-12-30 CN CN201410843044.0A patent/CN104678885B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104678885A (en) | 2015-06-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104678885B (en) | A kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement | |
| CN202292761U (en) | Symmetrical parallel robot mechanism with three degrees of freedom of redundant driven plane | |
| CN105082112A (en) | Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function | |
| CN104280238A (en) | Power closed testbed for running characteristic of overloading coupler | |
| CN102873573A (en) | Strong five-shaft linked swing head mechanism of large-power electric spindle | |
| CN105171728A (en) | Hexagonal pyramid type six-freedom-degree parallel mechanism | |
| CN202317698U (en) | High-rigidity redundant-drive three-degree-of-freedom parallel mechanism | |
| CN104278771B (en) | A kind of triangular steel plate antivibrator | |
| CN206335567U (en) | A kind of robot device | |
| CN106514620A (en) | Seven-degree-of-freedom controllable crank connecting rod type mechanical claw | |
| CN203809005U (en) | Compact mine quarrying machine | |
| CN204098273U (en) | A kind of triangular steel plate damper | |
| CN204819514U (en) | Hexagonal pyramid formula six -degree -of -freedom parallel mechanism | |
| CN207178275U (en) | A kind of high rotating speed gear input shaft for water pump | |
| CN219692167U (en) | Gear box special for magnetomotive generator | |
| CN203868164U (en) | Improved coupler structure | |
| CN106737574A (en) | A kind of controllable link-type gripper | |
| CN103213118A (en) | Reconfigurable parallel robot | |
| CN105221699A (en) | Rotating lever hydraulic drive rotates energy-saving power-boost device | |
| CN105522559A (en) | Four-degree-of-freedom parallel mechanism | |
| CN104626110A (en) | Electric-drive and high-rigidity 6-DOF parallel platform | |
| CN203696950U (en) | Removable overturn type reducer assembling table | |
| CN208417438U (en) | Mechanical single pendulum head speed changing structure for five axis Compositions of metal-working machines | |
| CN202441337U (en) | Double-decelerating and double-balancing energy saving oil pumper with positive torque | |
| CN201876360U (en) | Intelligent testing system for novel high-power low-speed diesel engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 221000 Nanhu campus, No. 1, Tongshan University Road, Xuzhou, Jiangsu Patentee after: China University of Mining & Technology Address before: 221000 Nanhu campus, No. 1, University Road, Xuzhou City, Jiangsu Patentee before: China University of Mining & Technology |